| import unittest |
|
|
| from pyrep.robots.end_effectors.robotiq85_gripper import Robotiq85Gripper |
| from tests.core import TestCore |
| from pyrep import PyRep |
| from os import path |
|
|
| from pyrep.robots.end_effectors.panda_gripper import PandaGripper |
| from pyrep.robots.end_effectors.mico_gripper import MicoGripper |
| from pyrep.robots.end_effectors.jaco_gripper import JacoGripper |
| from pyrep.robots.end_effectors.baxter_gripper import BaxterGripper |
| from pyrep.robots.end_effectors.xarm_gripper import XArmGripper |
|
|
| ASSET_DIR = path.join(path.dirname(path.abspath(__file__)), 'assets') |
|
|
| GRIPPERS = [ |
| ('PandaGripper', PandaGripper, 0.04), |
| ('BaxterGripper', BaxterGripper, 0.04), |
| ('MicoGripper', MicoGripper, 0.2), |
| ('JacoGripper', JacoGripper, 0.2), |
| ('Robotiq85Gripper', Robotiq85Gripper, 0.04), |
| ('XArmGripper', XArmGripper, 0.04), |
| ] |
|
|
|
|
| class TestArmsAndConfigurationPaths(TestCore): |
|
|
| def setUp(self): |
| self.pyrep = PyRep() |
| self.pyrep.launch(path.join( |
| ASSET_DIR, 'test_scene_robots.ttt'), headless=True) |
| self.pyrep.step() |
| self.pyrep.start() |
|
|
| def test_get_gripper(self): |
| for gripper_name, gripper_type, vel in GRIPPERS: |
| with self.subTest(gripper=gripper_name): |
| gripper = gripper_type() |
| self.assertIsInstance(gripper, gripper_type) |
|
|
| def test_close_open_gripper(self): |
| for gripper_name, gripper_type, vel in GRIPPERS: |
| with self.subTest(gripper=gripper_name): |
| gripper = gripper_type() |
| self.pyrep.step() |
| done = False |
| i = 0 |
| while not done: |
| done = gripper.actuate(0.0, velocity=vel) |
| self.pyrep.step() |
| i += 1 |
| if i > 1000: |
| self.fail('Took too many steps to close') |
| done = False |
| i = 0 |
| open_amount = 1.0 if gripper_name == 'Robotiq85Gripper' else 0.8 |
| while not done: |
| done = gripper.actuate(open_amount, velocity=vel) |
| self.pyrep.step() |
| i += 1 |
| if i > 1000: |
| self.fail('Took too many steps to open') |
| self.assertAlmostEqual( |
| gripper.get_open_amount()[0], open_amount, delta=0.05) |
|
|
| def test_get_duplicate_gripper(self): |
| g = BaxterGripper(1) |
| self.assertIsInstance(g, BaxterGripper) |
|
|
| def test_copy_gripper(self): |
| g = JacoGripper() |
| new_g = g.copy() |
| self.assertNotEqual(g, new_g) |
|
|
|
|
| if __name__ == '__main__': |
| unittest.main() |
|
|
